Self-contained navigation system

ABSTRACT

Coordinates of fixed initial and destination points and desired approach direction are stored in an on-board programmed computer which is turned on when an aircraft passes the initial point. From aircraft speed, heading and altitude inputs, bank and attitude instructions are generated to return aircraft to a computed curved path between the points. When an aircraft leaves a path corridor, a new path is computed. All-weather approaches are accomplished without requiring local approach aids at airports.

United States Patent 11 1 Rennie Jan. 15, 1974 [5 SELF-CONTAINED NAVIGATION SYSTEM 3,108,182 10/1963 Gray et al.., 343/7 ED x 1761 Inventor John, Coy-1e Rennie, 33 Third Ave 3:23:32! 5/1322 SSS/2221:1111. 6.1111 23 4312 32; Burlmgwn, Mass- 3,472,469 10/1969 Evans et al. 343/7 ED x [22] Filed: Mar. 4, 1970 Primary Examiner-T. H. Tubbesing [211 App! 16521 Att0rneyLittlepage, Quaintance, Wray & Aisenberg 52 U.S. Cl. 343 7 ED 343 9, 235 150.26, I 1 l 235/II5O 27 57 ABSTRACT 1 f Cl G015 9/46, .8 7/ 78 Coordinates of fixed initial and destination points and iel e thw- 3 43/7 E 8, I desired'approach direction are stored in'an on-board 235/150.25, 150.26, 150.27 rogrammed computer which is turned on when an aircraft passes the initial point. From aircraft speed, References d heading and altitude inputs, bank and attitude instruc- UNITED STATES PATENTS tions are generated to return aircraft to a computed 3,504,165 3/1970 Richardson etal 235/1501? x Curved P between Ihe P when an aircraft 3,666,929 5/1972 Menn' 343/7 ED x leaves a p corridor. a new p is computed. 3,118,059 I 1/1964 Vago 235/150.26 weather approaches are accomplished without requir- 3,177,348 4/1965 Daniloff-...... 343/7 ED X ing local approach aids in airports. 2,908,902 10/1959 Gray et al... 343/7 ED 2,652,979 9/1953 Chance 343/7 ED X 12 Claims, 28 Drawing Figures l T 32 I FLIGHT FLIGHT I DIRECTOR DIRECTOR I INDICATOR COMPUTER I I I 64 I k I I VERIFIER I l i 84 i I KEYSET T5 FLIGHT HORIZONTAL J DIRECTOR SITUATION I DATA 1 I CONTROL EIox INDICATOR I INPUT so 1 I I I 86 88 I 39 I am I I 89 SYSTEM I L 1 DISPLAY CONTROL l fi I INPUT IOUTPUT I ANALOG DIGITAL MUTIPLEXER 54 I ANALOG I I 1- CENTRAL I convemzn l MAGNETIC 52/ COMPUTER I COMPASS I I 74 l h I 7 DATA PROCESSING TAS I COMPUTER l 76 J l 2 11-/1sRr1A1 I BARO DOPPLER QUALITY I 79 I ALTIMETER RADAR HEADING L REFERENCE I NAVIGATION SENSORS LANDING MISSED APPROACH PATENIEDJANI 519M 3. 786 505 SHEET 01 {1F 25 FINAL TU RN ENTRY POINT WAVE OFF/ MISSED APPROACH PATTERN INITIAL INITIAL POINT TURN APPROIIADCHING INITIAL ALTITUDE (m) PROGRAMMED 3o DESCENT L FIG 2 PATTERN ALTITUDE p) T 38 34 GLIDE I L SLOPE 5 Q 40 LOW GATE MISSED APPROACH L A I T {POINT IP RUNWAY DP\\|4 42 ENTRY 2 INN-AL POINT INVENTOR JOHN C. RENNIE ATTORNEY PATENTED JAN 1 5 3. 786 505 SHEEI OEUF 25 FLIGHT FLIGHT 82 DIRECTOR R DIRECTOR INDICATOR COMPUTER I 64 K vERIFIER 84 KEYSET Tg FLIGHT HORIZONTAL I J DIRECTOR sITuATION DATA I CONTROL BOX INDICATOR 0 INPUT CRT F 89 SYSTEM DISPLAY CONTROL I -'LU ''H INPuT /OUTPUT A ANALOG I DIGITAL MUTIPLEXER l t 54 l ANALOG 56 I 1 CONVERTER CENTRAL MAGNET'C I I 52/ COMPUTER I COMPAss I I I ,4 I 74 l 50 I w J 1 1.2 I DATA PROCESSING C'O S I MP TER I I 2- I BARO OOPPLER ggfjfi 79 L INIETER RAOAR HEADING ,k/

' REFERENCE 1 NAVIGATION sENsORs INVENTOR FIG. 3

JOHN C. RENNIE ATTORNEY Pmemmamsw 3.786.505

sum mar 25 INVENTOR JOHN C. RENNIE ATTORNEY PATENTED 51974 3. 7 86 505 SNEH 05 0F 25 Is COMP TRK CONT swncn ACTIVE DISTANCE STATUS U; DIgITAL STEER' me TATUS FIGURE DIGITAL STEERING STATUS l I' ODE ACTIVATE DESIGNATED DP PAIENIEDJAN 1 5 m4 sum user 25 ACTIVE SAMPLE FIGURE 9 GENERATE COMMAND GLNliRATt COMMAND PATENTED 3. 786 505 SHEET 07 0F 25 T N Is DP Y Is h ACTIVE ENTERED r r SET FIGURE 10 H As ENTRY {-4 POINT BEEN CAPTURED 2 2 [T D d y d ENTER PRECISION a a APPROACH MODE SAMELE h n tanu D SAMPLE h l /S' T a a min 0 Y h h h /\h 1 a a 8 SET LOW APPROACH WARNING FLAG 1 hs Ah f /\h +Ah) arcsin:/Ah

PATENTEDJANI 51914 3.786.505

sum user 25 ENTER MISSED APPROACH MODE N T PREFERRED L h 0 TURN a R LEFT/RIGHT I T Y GENERATE ENTER w ALTITUDE-TO-ALTITUDE STEERING ENTER POINT-TO-POINT STEERING FIGURE 11 FIGURE 12 HEADING N sou Y UPDATE AIRCRAFT P88 ON USING 0 ER DATA WIND N VELOCITY INSERTED UPDATE AIRCRAFT POSITIO SING AIR TA PATENTED Y 51974 3. 786.505

sum 10 or 25 MAGNETIC HEADING REQUESTED LAST 50 Ms CYCLE CORRECT RECEIVED MAGNETIC HEADING h H MAG "VAR STORE H FROM LAST 50 Ms INTERRUPT CYCLE NOTIFY SYSTEM EXEC TO EXECUTE NAV. PROGRAM 2! SOURCE T SELECTED FIGURElB REQUEST H FROM INERTIAL QUALITY HEADING REFERENCE REQUEST H FROM S/D PAIENIEUJ 3. 786.505

SHEET 11M 25 FIGURE l D sin (9-[\) CORRIDOR CAPTURE MODE ACTIVE D 1') ABORT CORRIDOR D CAPTURE MODE '1 RECOMPUTE FLIGHT PATH ACTIVATE coRRI- DOR CAPTURE START MODE 0N FIRST PASS PATENIEB 1 51974 3. 786,505

sum 12 or 25 FIGURE l lA (s') arctan PATENTED 51974 3. 7 86 505 SHEET 130F 25 a-R cos Y FIGURE 15 b sln y cos a cos Y sin a sin Y R 11 l 11 sln a cos y cos a sln Y R 7 PMENTEB 3.786.505

' SHEET lhllf 25 CORRIDOR CAPTURE MODE ACTIVE FIGURE 16 SET LEFT TURN FLAG SET 61 PAIENIED 3. 786 505 sum 15 0F 25 POINT-TO-POINT (UNDESIGNATED) SYSTEM, I-E. FIND COORDINATES COQVET THE DP AND AIRCRAT AT-LONG TO AN J 0? DP WITH RESPECT TO THE AIRCRAFT.

51, V K 3 d d ta 1 ta (L L L dam; THE AIRCRAFT AS ORIGIN, ROTATE THE DP POSITION (X Y BY AN ANGLE EQUAL T0 FIGURE 17 PATENIEDJANISW 3.786.505

sum 1sur2s FIGURE 18 arctan i FIGURE 18A Lj g El i ACTIVATE CAPTURE P a L MODE ON FIRST PASS Q (2P tc K cos L PATENIEDJAN 1 5 W 3. 786,505

SHEET IBUF 25 REcOMPuTE ENTRY POINT ON CIRCLE FOR TANGENTIAL CAPTURE ABORT CORRIDOR CAPTURE MODE,

RECOMPUTE FLIGHT PATH VIA DESIGNATED STEERING MODE ABORT CORRIDOR CAPTURE MODE, h l RECOMPUTE FLIGHT PATH PATE TEB M 3.786.505 SHEET 190F 25 FIGURE 19 ACTIVATE UNDESIGNATED STEERING MODE X (J arctan CoRRluoR CAPTURE MODE ACTIVE 

1. Self-contained on-board navigation apparatus for navigating a craft between distant points of known latitude and longitude comprising a craft, input means mounted on the craft for inputting latitudes and longitudes of the points, a computing means connected to the input means for computing a path between the points, a heading reference mounted on the craft and connected to the computing means for supplying craft heading signals to the computing means, a speed sensor mounted on the craft and connected to the computing means for supplying speed signals to the computing means, start means mounted on the craft and connected to the computing means for supplying a start signal to the computing means when the craft is adjacent an initial point, whereby applying of heading and speed signals against latitude and longitude for creating incremental latitude and longitude changes is begun by the computing means upon receiving the start signal, and output means connected to the computing means for indicating positional characteristics of the craft.
 2. The navigation apparatus of claim 1 wherein the computing means comprises a digital computer and wherein the data processing means further comprises converter means for converting incoming speed and heading analog signals to digital signals and for converting outgoing digital command signals to analog command signals.
 3. The navigation apparatus of claim 1 wherein the command means comprises visual display means for visually displaying turning commands for returning the vehicle to the path.
 4. The self-contained navigation apparatus of claim 1 wherein the craft is an aircraft and wherein the known points comprise an initial point and a destination point further comprising an altitude sensor for producing altitude signals, and wherein the correction means receives the altitude signals and produces altitude correction signals and wherein the command means comprises a flight director indicator for indicating bank and pitch signals for returning the aircraft to a path according to command signals and a horizontal situation indicator for indicating a horizontal track of the path, a horizontal track of the aircraft and a relationship therebetween.
 5. The navigation apparatus of claim 1 for navigating an aircraft from an initial known point to a destination point, wherein the heading reference comprises an inertial-quality heading reference, wherein the speed sensor comprises a Doppler radar mounted beneath the aircraft, and further comprising a barometric altimeter mounted on the aircraft for producing altitude signals, a key set mounted on the aircraft for inserting latitude and longitude designations of the initial and destination points and approach direction for the destination point, and wherein the correction means comprises means for storing latitude and longitude and approach heading data, a converter for converting signals to digital data, and means for producing dead reckoning incremental position changes of the aircraft and for comparing aircraft position with a computed path having curved portions and straight line portions between the initial point and destination point, and wherein the command means comprises a flight director indicator having bank and pitch displays for displaying proper maneuvers for guiding the aircraft along the path.
 6. The navigation apparatus of claim 1 for navigating an aircraft between a first known geographic initial point and a second known geographical destination point on a predetermined approach heading with respect to the destination point wherein the heading reference comprises an inertial-quality heading reference and a magnetic compass for producing first and second heading signals, wherein the speed sensor comprises a Doppler radar mounted beneath the aircraft and a true air speed sensor and smoothing apparatus mounted on the aircraft for producing first and second speed signals and further comprising an altimeter mounted on the aircraft for producing altitude signals and a key set mounted on the aircraft for inserting latitude and longitude data of the initial and destination points and the desired predetermined approach heading for the destination point and wherein the correction means comprises means for storing the computing data and computing means for selecting the first or second heading signal and the first or second speed signal, for computing a path between the initial point and the destination point, and for dead reckoning the aircraft from the incoming signals and for comparing the dead reckoned aircraft position with the path and for producing correction signals therefrom and wherein the command means comprises visual display means for displaying the bank and pitch commands for returning an aircraft to the path.
 7. The method of precisely navigating a craft with self-contained on-board equipment between points of known latitude and longitude independently of continuous external inputs comprising inputting to an on-board computer latitudes and longitudes of distant initial and destination points and a heading on which an approach to the destination point is to be made, computing a path between the points with final heading in a desired direction, sensing speed and heading of the craft, comparing sensed speed and heading with the path, incrementally calculating changing position of the craft with respect to the path, and displaying positional characteristics of the craft.
 8. The method of claim 7 further comprising further inputting to the on-board computer altitude of the destination point, desired glide slope to the destination point and pattern altitude of a final approach portion of the path, wherein the computing step further comprises computing a path having a first straight line portion and a first slope to desired pattern altitude and having a turn at pattern altitude to a final approach and further comprising a directing step which comprises directing the turning of the vehicle to a first straight line portion of the path and correcting the vehicle altitude to the desired pattern altitude before directing a second turning of the vehicle to a final approach portion of the path at the pattern altitude.
 9. The method of claim 7 further comprising comparing vehicular position increments with computed path increments and wherein the displaying step comprises displaying craft positional characteristics in comparison to desired characteristics.
 10. The method of claim 9 further comprising computing a new path to the destination point when a craft exceeds an imaginary corridor about the original path, and producing correction signals for returning the vehicle to the new path.
 11. The method of claim 7 further comprising continuously measuring height above ground and inputting height measurement to the computer, comparing height measurement with predetermined desired height at vehicular position and displaying attitude and speed correction commands for regaining a predetermined desired altitude path.
 12. Self-contained on-board navigation apparatus for navigating a craft from a point of known latitude and longitude comprising a craft, input means mounted on the craft for inputting latitude and longitude of the point , a computing means connected to the input means for computing latitude and longitude of the craft, a heading reference mounted on the craft and connected to the computing means for supplying craft heading signals to the computing means, a speed sensor mounted on the craft and connected to the computing means for supplying speed signals to the computing means, start means mounted on the craft and connected to the computing means for supplying a starT signal to the computing means when the craft is adjacent an initial point, whereby applying of heading and speed signals against latitude and longitude for creating incremental latitude and longitude changes is begun by the computing means upon receiving the start signal, and output means connected to the computing means for indicating positional characteristics of the craft. 